When configuring Crypto Maps its essential that you correctly place the Dynamic Crypto Map entry. Otherwise you'll spend hours troubleshooting something that's easily fixed. Here's the documentation on how to correctly configure a Crypto Map with a Dynamic Crypto Map entry.

A crypto map set may include a dynamic crypto map. Dynamic crypto map sets should be the lowest priority crypto maps in the crypto map set (that is, they should have the highest sequence numbers) so that the adaptive security appliance evaluates other crypto maps first. It examines the dynamic crypto map set only when the other (static) map entries do not match.

Instead of restarting the process this will actually unload vpnagentd from launchctl and prevent it from starting back up. Once you have successfully installed Firefox 4 then all you need to do is reload it back into launchctl.

One of my favorite features about Mac OS X is the built in VPN Client that supports L2TP over IPSec, PPTP, and Cisco IPSec. Unfortunately it decides to get buggy once in a while preventing me from creating a VPN connection into work. One way to remedy this situation is to restart the machine, not a very good option when your're trying to get work done.

The other method is to open up the terminal and do some command line mojo. The command below will resolve the issue and get me up and working quickly.

sudo racoon

This will re-enable the service. Try reconnecting and all should be good.